TY - GEN
T1 - Haptic micro manipulation using grasping/manipulating mode with different DOF
AU - Tomizuka, Daisuke
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/21
Y1 - 2016/12/21
N2 - In recent years, the demand for technique to transmit the touching sensation is increasing in a medical field. This paper shows that Voice Coil Motor (VCM)-based haptic system enables operators to grasp and manipulate a small and fragile environment with tactile sensation. Author proposed that bilateral control between different degree-of-freedom without position controller system attain the grasping task and the manipulation task simultaneously. However, the system without the position controller cannot position accurately because of the friction. Thus, bilateral control between different degree-of-freedom with position controller system accomplishing the grasping task and the manipulation task simultaneously by updating command is proposed. In addition, the proposed method based on both oblique coordinate control and decoupling method using MDOB are verified.
AB - In recent years, the demand for technique to transmit the touching sensation is increasing in a medical field. This paper shows that Voice Coil Motor (VCM)-based haptic system enables operators to grasp and manipulate a small and fragile environment with tactile sensation. Author proposed that bilateral control between different degree-of-freedom without position controller system attain the grasping task and the manipulation task simultaneously. However, the system without the position controller cannot position accurately because of the friction. Thus, bilateral control between different degree-of-freedom with position controller system accomplishing the grasping task and the manipulation task simultaneously by updating command is proposed. In addition, the proposed method based on both oblique coordinate control and decoupling method using MDOB are verified.
KW - Haptics
KW - Micro macro bilateral control
KW - Modal space disturbance observer
KW - Oblique control
KW - Voice Coil Motor(VCM)
UR - http://www.scopus.com/inward/record.url?scp=85010063107&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85010063107&partnerID=8YFLogxK
U2 - 10.1109/IECON.2016.7793596
DO - 10.1109/IECON.2016.7793596
M3 - Conference contribution
AN - SCOPUS:85010063107
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 710
EP - 715
BT - Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PB - IEEE Computer Society
T2 - 42nd Conference of the Industrial Electronics Society, IECON 2016
Y2 - 24 October 2016 through 27 October 2016
ER -